219 lines
13 KiB
Python
219 lines
13 KiB
Python
# Mimicking the humanoidv4 reward
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import numpy as np
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import placo
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from gymnasium import utils
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from gymnasium.envs.mujoco import MujocoEnv
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from gymnasium.spaces import Box
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from mini_bdx.walk_engine import WalkEngine
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def mass_center(model, data):
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mass = np.expand_dims(model.body_mass, axis=1)
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xpos = data.xipos
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return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy()
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class BDXEnv(MujocoEnv, utils.EzPickle):
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"""
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## Action space
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| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
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| ---- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | -------- |------------- |
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| 0 | Set position of right_hip_yaw | -0.58TODO | 0.58TODO | right_hip_yaw | cylinder | pos (rad) |
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| 1 | Set position of right_hip_roll | -0.58TODO | 0.58TODO | right_hip_roll | cylinder | pos (rad) |
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| 2 | Set position of right_hip_pitch | -0.58TODO | 0.58TODO | right_hip_pitch | cylinder | pos (rad) |
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| 3 | Set position of right_knee_pitch | -0.58TODO | 0.58TODO | right_knee_pitch | cylinder | pos (rad) |
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| 4 | Set position of right_ankle_pitch | -0.58TODO | 0.58TODO | right_ankle_pitch | cylinder | pos (rad) |
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| 5 | Set position of left_hip_yaw | -0.58TODO | 0.58TODO | left_hip_yaw | cylinder | pos (rad) |
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| 6 | Set position of left_hip_roll | -0.58TODO | 0.58TODO | left_hip_roll | cylinder | pos (rad) |
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| 7 | Set position of left_hip_pitch | -0.58TODO | 0.58TODO | left_hip_pitch | cylinder | pos (rad) |
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| 8 | Set position of left_knee_pitch | -0.58TODO | 0.58TODO | left_knee_pitch | cylinder | pos (rad) |
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| 9 | Set position of left_ankle_pitch | -0.58TODO | 0.58TODO | left_ankle_pitch | cylinder | pos (rad) |
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| 9 | Set position of head_pitch1 | -0.58TODO | 0.58TODO | left_ankle_pitch | cylinder | pos (rad) |
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| 9 | Set position of head_pitch2 | -0.58TODO | 0.58TODO | left_ankle_pitch | cylinder | pos (rad) |
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| 9 | Set position of head_yaw | -0.58TODO | 0.58TODO | left_ankle_pitch | cylinder | pos (rad) |
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## Observation space
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OBSOLETE
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| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit |
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| --- | -------------------------------------------------------- | ---- | --- | -------------------------------- | -------- | ------------------------ |
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| 0 | Rotation right_hip_yaw | -Inf | Inf | right_hip_yaw | cylinder | angle (rad) |
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| 1 | Rotation right_hip_roll | -Inf | Inf | right_hip_roll | cylinder | angle (rad) |
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| 2 | Rotation right_hip_pitch | -Inf | Inf | right_hip_pitch | cylinder | angle (rad) |
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| 3 | Rotation right_knee_pitch | -Inf | Inf | right_knee_pitch | cylinder | angle (rad) |
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| 4 | Rotation right_ankle_pitch | -Inf | Inf | right_ankle_pitch | cylinder | angle (rad) |
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| 5 | Rotation left_hip_yaw | -Inf | Inf | left_hip_yaw | cylinder | angle (rad) |
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| 6 | Rotation left_hip_roll | -Inf | Inf | left_hip_roll | cylinder | angle (rad) |
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| 7 | Rotation left_hip_pitch | -Inf | Inf | left_hip_pitch | cylinder | angle (rad) |
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| 8 | Rotation left_knee_pitch | -Inf | Inf | left_knee_pitch | cylinder | angle (rad) |
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| 9 | Rotation left_ankle_pitch | -Inf | Inf | left_ankle_pitch | cylinder | angle (rad) |
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| 10 | Rotation head_pitch1 | -Inf | Inf | head_pitch1 | cylinder | angle (rad) |
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| 11 | Rotation head_pitch2 | -Inf | Inf | head_pitch2 | cylinder | angle (rad) |
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| 12 | Rotation head_yaw | -Inf | Inf | head_yaw | cylinder | angle (rad) |
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| 13 | Velocity of right_hip_yaw | -Inf | Inf | right_hip_yaw | cylinder | speed (rad/s) |
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| 14 | Velocity of right_hip_roll | -Inf | Inf | right_hip_roll | cylinder | speed (rad/s) |
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| 15 | Velocity of right_hip_pitch | -Inf | Inf | right_hip_pitch | cylinder | speed (rad/s) |
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| 16 | Velocity of right_knee_pitch | -Inf | Inf | right_knee_pitch | cylinder | speed (rad/s) |
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| 17 | Velocity of right_ankle_pitch | -Inf | Inf | right_ankle_pitch | cylinder | speed (rad/s) |
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| 18 | Velocity of left_hip_yaw | -Inf | Inf | left_hip_yaw | cylinder | speed (rad/s) |
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| 19 | Velocity of left_hip_roll | -Inf | Inf | left_hip_roll | cylinder | speed (rad/s) |
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| 20 | Velocity of left_hip_pitch | -Inf | Inf | left_hip_pitch | cylinder | speed (rad/s) |
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| 21 | Velocity of left_knee_pitch | -Inf | Inf | left_knee_pitch | cylinder | speed (rad/s) |
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| 22 | Velocity of left_ankle_pitch | -Inf | Inf | left_ankle_pitch | cylinder | speed (rad/s) |
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| 23 | Velocity of head_pitch1 | -Inf | Inf | head_pitch1 | cylinder | speed (rad/s) |
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| 24 | Velocity of head_pitch2 | -Inf | Inf | head_pitch2 | cylinder | speed (rad/s) |
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| 25 | Velocity of head_yaw | -Inf | Inf | head_yaw | cylinder | speed (rad/s) |
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| 26 | roll angular velocity | -Inf | Inf | | | |
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| 27 | pitch angular velocity | -Inf | Inf | | | |
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| 28 | yaw angular velocity | -Inf | Inf | | | |
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| 29 | current x linear velocity | -Inf | Inf | | | |
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| 30 | current y linear velocity | -Inf | Inf | | | |
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| 31 | current z linear velocity | -Inf | Inf | | | |
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| 32 | left foot in contact with the floor | -Inf | Inf | | | |
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| 33 | right foot in contact with the floor | -Inf | Inf | | | |
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"""
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metadata = {
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"render_modes": [
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"human",
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"rgb_array",
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"depth_array",
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],
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"render_fps": 100,
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}
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def __init__(self, **kwargs):
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utils.EzPickle.__init__(self, **kwargs)
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observation_space = Box(low=-np.inf, high=np.inf, shape=(41,), dtype=np.float64)
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self.left_foot_in_contact = 0
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self.right_foot_in_contact = 0
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self._healthy_z_range = (0.1, 0.2)
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self._forward_reward_weight = 1.25
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self._ctrl_cost_weight = 0.3
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self.healthy_reward = 5.0
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MujocoEnv.__init__(
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self,
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"/home/antoine/MISC/mini_BDX/mini_bdx/robots/bdx/scene.xml",
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5, # frame_skip TODO set to 1 to test
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observation_space=observation_space,
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**kwargs,
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)
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def check_contact(self, body1_name, body2_name):
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body1_id = self.data.body(body1_name).id
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body2_id = self.data.body(body2_name).id
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for i in range(self.data.ncon):
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contact = self.data.contact[i]
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if (
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self.model.geom_bodyid[contact.geom1] == body1_id
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and self.model.geom_bodyid[contact.geom2] == body2_id
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) or (
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self.model.geom_bodyid[contact.geom1] == body2_id
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and self.model.geom_bodyid[contact.geom2] == body1_id
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):
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return True
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return False
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def control_cost(self):
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control_cost = self._ctrl_cost_weight * np.sum(np.square(self.data.ctrl))
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return control_cost
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@property
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def is_healthy(self):
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min_z, max_z = self._healthy_z_range
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is_healthy = min_z < self.data.qpos[2] < max_z
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return is_healthy
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@property
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def terminated(self):
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rot = np.array(self.data.body("base").xmat).reshape(3, 3)
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Z_vec = rot[:, 2]
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upright = np.array([0, 0, 1])
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return not self.is_healthy or np.dot(upright, Z_vec) <= 0
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def step(self, a):
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xy_position_before = mass_center(self.model, self.data)
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self.do_simulation(a, self.frame_skip)
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xy_position_after = mass_center(self.model, self.data)
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xy_velocity = (xy_position_after - xy_position_before) / self.dt
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x_velocity, y_velocity = xy_velocity
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self.right_foot_in_contact = self.check_contact("foot_module", "floor")
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self.left_foot_in_contact = self.check_contact("foot_module_2", "floor")
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ctrl_cost = self.control_cost()
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moving_cost = 1.0 * (abs(x_velocity) + np.abs(x_velocity))
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forward_reward = self._forward_reward_weight * x_velocity
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healthy_reward = self.healthy_reward
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# rewards = forward_reward + healthy_reward
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rewards = healthy_reward
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reward = rewards - ctrl_cost - moving_cost
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# print("healthy", healthy_reward)
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# print("ctrl", ctrl_cost)
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# print("moving", moving_cost)
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# print(("total reward", reward))
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# print("-")
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ob = self._get_obs()
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if self.render_mode == "human":
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self.render()
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return (ob, reward, self.terminated, False, {})
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def reset_model(self):
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noise_low = -1e-2
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noise_high = 1e-2
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qpos = self.init_qpos + self.np_random.uniform(
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low=noise_low, high=noise_high, size=self.model.nq
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)
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qvel = self.init_qvel + self.np_random.uniform(
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low=noise_low, high=noise_high, size=self.model.nv
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)
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self.set_state(qpos, qvel)
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observation = self._get_obs()
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return observation
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def _get_obs(self):
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position = (
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self.data.qpos.flat.copy()
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) # position/rotation of trunk + position of all joints
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velocity = (
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self.data.qvel.flat.copy()
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) # positional/angular velocity of trunk + of all joints
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# com_inertia = self.data.cinert.flat.copy()
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# com_velocity = self.data.cvel.flat.copy()
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# actuator_forces = self.data.qfrc_actuator.flat.copy()
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# external_contact_forces = self.data.cfrc_ext.flat.copy()
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obs = np.concatenate(
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[
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position,
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velocity,
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[self.left_foot_in_contact, self.right_foot_in_contact],
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]
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)
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# print("OBS SIZE", len(obs))
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return obs
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